The goal of this paper is to present a new realtime controller based on linear model predictive control for an omnidirectionnal wheeled humanoid robot. It is able to control both the mobile base of the robot and its body, while taking into account dynamical constraints. It makes it possible to have high velocity and acceleration motions by predicting the dynamic behavior of the robot in the future. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good performance in terms of robustness and tracking control, efficiently managing kinematic and dynamical constraints.

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Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels

Whole-body tactile sensing, especially when aimed at implementing tactile-based motion control, requires well-defined infrastructures. Requirements related to Real-Time operation, bandwidth and robustness must be carefully addressed. With respect to a tactile technology described in [2], this paper discusses a number of infrastructural solutions based on a Ethernet Real-Time protocol. Associated benefits and drawbacks are discussed. The identified models and solutions are compared both analytically and with extensive numerical simulations.

Design of an embedded networking infrastructure for whole-body tactile sensing in humanoid robots

MAHRU-M: A mobile humanoid robot platform based on a dual-network control system and coordinated task execution

A humanoid robot with a body joined to an omnidirectional mobile ground base, equipped with: a body position sensor, a base position sensor and an angular velocity sensor to provide measures, actuators comprising at least 3 wheels located in the omnidirectional mobile base, extractors for converting sensored measures into useful data, a supervisor to calculate position, velocity and acceleration commands from the useful data, means for converting commands into instructions for the actuators, wherein the supervisor comprises: a no-tilt state controller, a tilt state controller and a landing state controller, each controller comprising means for calculating, position, velocity and acceleration commands based on a double point-mass robot model with tilt motion and on a linear model predictive control law, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints.

Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

Considerations of energy efficiency and safe human-robot interaction have led to an increase in the exploitation of compliance in robotics, and much of this work has been inspired by biological systems As a consequence, new analytical tools are now required in order to enable the dynamic analysis of these novel compliant robots, especially in their interactions with the environment This paper extends the ‘Flier’ approach to show how it could be applied to the dynamic analysis of contact tasks involving a highly compliant biologically inspired robot – in this case an anthropomimetic robot, a humanoid with a human-like skeleton and artificial muscles, in which the joints are actuated by DC motors acting via compliant tendon transmissions First, a computer-based model of the robot’s dynamics is developed Various constraints are then introduced to describe the contacts (including impacts) with the ground, and with objects in the environment Simulation results are presented for two types of interactions w

Dynamic modeling of an anthropomimetic robot in contact tasks

For wheel-based humanoid robot, the dynamic stability is also an important question just like for biped robot. This paper unites the new recursive Newton-Euler method for dynamic modeling and the ZMP concept and then obtains the ZMP model of the robot. The merit of this model is that it is a function of the position, velocity and acceleration of joints in joint space and easier to realize realtime control due to less calculation. Calculation and simulation show that the waist motion takes the main effect on the dynamic stability of the robot. Using the compensation of motion of the waist, the robot can realize dynamic motion. This paper also presents the concepts of the valid stable region and stable degree for the wheel-based robot.

Dynamic Stability Analyses Based on ZMP of a Wheel-based Humanoid Robot

Trajectory tracking of multi-legged robot based on model predictive and sliding mode control

Aiming at humanoid robot structure and requirement for control performance, this paper designs and realizes joint controller based on CAN, and structures an effective credible control system by connecting controllers, force sensors and harmonious level computer together. This paper includes mainly: overall structure of the system, design and implementation of hardware and software, topology of control system, and bring forward some imaginations to enhance performance of the system

Yanjie Li

Papers

Dynamic Stability Analyses Based on ZMP of a Wheel-based Humanoid Robot

Trajectory tracking of multi-legged robot based on model predictive and sliding mode control

Design and Implementation of Humanoid Robot Controller Based on CAN